| 摘要 |
PROBLEM TO BE SOLVED: To accurately recognize a curve shape even in the case that the positional error of point data on a road is present. SOLUTION: By using a plurality of point data (a) arranged along the road, the shape of a curve provided on the road is recognized. Based on the plurality of point data, the rough shape of the curve, that is the approach line and parting line of the curve, is obtained (c). From rough shape information and the point data within the curve, the representative shape information of the curve is obtained. Preferably, circular arcs passing through each of points in the curve and inscribing the approach line and the parting line are individually obtained (d). From the plurality of circular arcs obtained in such a manner, the representative circular arc shape of the curve is obtained by a statistical processing (e). |
